Program Listing for File forward_command_controller.hpp

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// Copyright 2020 PAL Robotics S.L.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_
#define FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_

#include <memory>
#include <string>
#include <vector>

#include "forward_command_controller/forward_controllers_base.hpp"
#include "forward_command_controller/visibility_control.h"
#include "forward_command_controller_parameters.hpp"

namespace forward_command_controller
{
class ForwardCommandController : public ForwardControllersBase
{
public:
  FORWARD_COMMAND_CONTROLLER_PUBLIC
  ForwardCommandController();

protected:
  void declare_parameters() override;
  controller_interface::CallbackReturn read_parameters() override;

  std::shared_ptr<ParamListener> param_listener_;
  Params params_;
};

}  // namespace forward_command_controller

#endif  // FORWARD_COMMAND_CONTROLLER__FORWARD_COMMAND_CONTROLLER_HPP_